# LEGO‐like Origami Robots Standardize Structure Design of Soft Robots

## TL;DR

This paper introduces a LEGO-like origami robot system that allows for precise and standardized design of soft robots using modular components.

## Contribution

The novel approach integrates thickness accommodation into kinematics models and uses an optimization-based assembly strategy for soft robots.

## Key findings

- A robot arm built using LEGO-like origami actuators achieved a tip deviation of only 3 mm over a 400 mm span.
- Two soft robots were successfully designed and tested for manipulation and tight space inspection.
- A bipedal walking robot confirmed the feasibility of the design algorithm for functional systems.

## Abstract

This paper presents a novel design methodology for automatically constructing soft robots with modular, LEGO‐like origami actuators. By assembling these modular soft actuators, intricate robotic systems can be created. The key innovation of the work lies in the incorporation of thickness accommodation into kinematics models and the optimization‐based assembly strategy standardizing the design process. This approach has been validated through two LEGO‐like origami actuators, which are then assembled guided by the assembly strategy. A robot arm built by these actuators showcased a remarkable position accuracy, deviating by only 3 mm at the tip over a 400 mm span. Furthermore, two soft robots are successfully designed, built, and tested for manipulation and tight space inspection, and a bipedal walking robot, confirming the feasibility of the design algorithm for functional robotic systems. This work offers a comprehensive design framework that standardizes the assembly of LEGO‐like origami actuators into accurate and functional robotic systems.

The paper proposes a comprehensive design framework that standardizes the soft robot development process as the assembly of LEGO‐like, off‐the‐shelf origami actuator modules. With actuators designed to accommodate thickness and an optimization‐based assembly strategy, it establishes a repeatable, systematic workflow that streamlines and accelerates building complex soft robotic systems from reusable components.